21 #ifndef _PLUGINS_GAZSIM_LASER_THREAD_H_
22 #define _PLUGINS_GAZSIM_LASER_THREAD_H_
24 #include <aspect/blackboard.h>
25 #include <aspect/blocked_timing.h>
26 #include <aspect/clock.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <core/threading/thread.h>
30 #include <plugins/gazebo/aspect/gazebo.h>
33 #include <gazebo/msgs/MessageTypes.hh>
34 #include <gazebo/transport/TransportTypes.hh>
35 #include <gazebo/transport/transport.hh>
38 class Laser360Interface;
59 gazebo::transport::SubscriberPtr laser_sub_;
60 std::string laser_topic_;
73 void on_laser_data_msg(ConstLaserScanStampedPtr &msg);
78 std::string interface_id_;
79 std::string frame_id_;
Thread simulates the Hokuyo in Gazebo.
LaserSimThread()
Constructor.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Thread aspect to access configuration data.
Thread aspect to get access to a Gazebo node handle.
Laser360Interface Fawkes BlackBoard Interface.
Thread aspect to log output.
Thread class encapsulation of pthreads.
A class for handling time.
Fawkes library namespace.